Integral sliding mode control for non-linear systems with mismatched uncertainty based on quadratic sliding mode

摘要

In this study, uncertainty and disturbance compensations are addressed for non-linear systems by an integral sliding mode (ISM) design. It is divided into two steps for implementation of the ISM control. First, an ISM switching surface in quadratic form is designed to construct the attractiveness and reachability. Then, the control law design ensures the stability of the sliding mode on the switching surface. The compensation design is applicable for both matched and mismatched perturbations. Preliminary results show that more relaxed design assumptions of this design, compared with other methods. In the end, the effectiveness of the proposed method is demonstrated with simulation results.